Work machine management system and work machine

ABSTRACT

A work machine management system includes: a position detecting device that detects a position of a work machine traveling in a workplace; a non-contact sensor that detects an object existing in the workplace in a non-contact manner; map data that accumulates information on existence and a position of the object existing in the workplace on the basis of detection data obtained by the position detecting device and detection data obtained by the non-contact sensor; a travel route generation unit that generates a travel route where the work machine travels; and an identifying unit that identifies perfection of map data. The travel route generation unit generates the travel route where the work machine travels on the basis of the perfection of the map data identified by the identifying unit.

FIELD

The present invention relates to a work machine management system and awork machine.

BACKGROUND

In a mining site of a mine, a mining machine may be made to travel alonga set travel route. Patent Literature 1 discloses a technology ofgenerating a route for a moving body to move from a departure point to adestination point.

CITATION LIST

Patent Literature

Patent Literature 1: Japanese Patent Application Laid-open No.2001-124576 A

SUMMARY

Technical Problem

In a case of making a mining machine travel along a set travel route,actual positional data of a mining machine is acquired by a globalpositioning system (GPS) or the like, and travel of the mining machineis controlled such that a difference between a target position on thetravel route and an actual position of the mining machine is minimized.However, depending on an environment of a mine, a time zone during whichpositional data of the mining machine is hardly acquired by the GPS orthe like may be caused. When the mining machine is made to travel duringsuch a time zone, correct positional data of the mining machine cannotbe acquired, and therefore, the mining machine can hardly travel alongthe travel route, and productivity in the mine may be deteriorated.

An aspect of the present invention is directed to providing a workmachine management system and a work machine capable of suppressingdeterioration of productivity in a mine.

Solution to Problem

According to a first aspect of the present invention, a work machinemanagement system comprising: a position detecting device configured todetect a position of a work machine traveling in a workplace; anon-contact sensor configured to detect, in a non-contact manner, anobject existing in the workplace; map data configured to accumulateinformation on existence and a position of the object existing in theworkplace on the basis of detection data obtained by the positiondetecting device and detection data obtained by the non-contact sensor;a travel route generation unit configured to generate a travel routewhere the work machine travels; and an identifying unit configured toidentify perfection of the map data, wherein the travel route generationunit generates the travel route where the work machine travels on thebasis of the perfection of the map data identified by the identifyingunit.

According to a second aspect of the present invention, a work machinecomprises the work machine management system according to the firstaspect.

According to a third aspect of the present invention, a work machinemanagement system comprises: a position detecting device configured todetect a position of a work machine traveling in a workplace; anon-contact sensor configured to detect, in a non-contact manner, anobject existing in the workplace; map data configured to accumulateinformation on existence and a position of the object existing in theworkplace on the basis of detection data obtained by the positiondetecting device and detection data obtained by the non-contact sensor;a travel route generation unit configured to generate a travel routewhere the work machine travels, the travel route including a firsttravel route that passes a center region from a first position to asecond position in the workplace and a second travel route that passesan outer periphery region from the first position to the second positionin the workplace, and a designation unit configured to designateperfection of map data in the second travel route, wherein the travelroute generation unit generates a travel route so as to make the workmachine preferentially pass the second travel route on the basis ofinformation from the designation unit.

According to a fourth aspect of the present invention, a work machinemanagement system, comprises: a position detecting device configured todetect a position of a work machine traveling in a workplace; anon-contact sensor configured to detect, in a non-contact manner, anobject existing in the workplace; map data configured to accumulateinformation on existence and a position of the object existing in theworkplace on the basis of detection data obtained by the positiondetecting device and detection data obtained by the non-contact sensor;a travel route generation unit configured to generate a travel routewhere the work machine travels, the travel route including a travelroute that passes an outer periphery region from a first position to asecond position in the workplace; an identifying unit configured toidentify perfection of map data; a scan matching navigation positioncalculation unit configured to calculate a position of the work machineby matching a detection result obtained by the non-contact sensor withthe map data; and a travel controller configured to control travel ofthe work machine on the basis of a detection result obtained by theposition detecting device in a case where the position detecting deviceis effective, and configured to control travel of the work machine onthe basis of a calculation result obtained by the scan matchingnavigation position calculation unit in a case where the positiondetecting device is not effective, wherein the travel route generationunit generates a travel route that causes the work machine to pass thetravel route both in the case where the position detecting device iseffective and in the case where the position detecting device is noteffective.

Advantageous Effects of Invention

According to the aspects of the present invention, provided are the workmachine management system and the work machine capable of suppressingdeterioration of productivity in a mine.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a view illustrating an exemplary management system for amining machine according to a first embodiment.

FIG. 2 is a schematic view to describe a travel route of a dump truckaccording to the first embodiment.

FIG. 3 is a control block diagram of a management device according tothe first embodiment.

FIG. 4 is a control block diagram of a dump truck according to the firstembodiment.

FIG. 5 is a hardware configuration diagram of the dump truck accordingto the first embodiment.

FIG. 6 is a front view of an obstacle sensor of the dump truck accordingto the first embodiment.

FIG. 7 is a plan view illustrating a detection area by a non-contactsensor.

FIG. 8 is a side view illustrating a detection area by the non-contactsensor.

FIG. 9 is a diagram to describe a method in which a travel controller ofa control system according to the first embodiment detects a positionand an azimuth direction during a GPS travel mode.

FIG. 10 is a diagram to describe a method in which the travel controllerof the control system according to the first embodiment detects aposition and an azimuth direction during scan matching navigation travelmode.

FIG. 11 is a diagram to describe a method in which a scan matchingnavigation position calculation unit of a position measurementcontroller of the control system according to the first embodimentcalculates a position and an azimuth direction during the GPS travelmode.

FIG. 12 is a diagram to describe a method in which the scan matchingnavigation position calculation unit of the position measurementcontroller of the control system according to the first embodimentcalculates a position and an azimuth direction during the scan matchingnavigation mode.

FIG. 13 is a diagram illustrating a part of map data stored in a mapstorage database of the control system according to the firstembodiment.

FIG. 14 is an enlarged view of a portion XIV in FIG. 13.

FIG. 15 is an exemplary flowchart of the control system according to thefirst embodiment.

FIG. 16 is an exemplary flowchart of step ST4.

FIG. 17 is a diagram illustrating an exemplary partial region of mapdata read into a storage unit from the map storage database according tothe first embodiment.

FIG. 18 is a diagram illustrating an exemplary detection result actuallydetected by a laser sensor of the control system according to the firstembodiment.

FIG. 19 is a diagram illustrating an exemplary state in which the scanmatching navigation position calculation unit has calculated a positionand an azimuth direction of an own vehicle on the basis of a detectionresult actually detected by a laser sensor of the control systemaccording to the first embodiment.

FIG. 20 is a view illustrating an exemplary travel route set in aloading place according to the first embodiment.

FIG. 21 is a diagram illustrating course data set in a second areaaccording to the first embodiment.

FIG. 22 is a diagram illustrating course data set in the second areaaccording to the first embodiment.

FIG. 23 is a flowchart illustrating an exemplary travel route settingmethod according to the first embodiment.

FIG. 24 is a schematic diagram illustrating an exemplary travel routeset in a workplace according to the first embodiment.

DESCRIPTION OF EMBODIMENTS

In the following, embodiments of the present invention will be describedwith reference to the drawings, but the present invention is not limitedthereto.

First Embodiment

<Overview of Management System of Mining Machine>

FIG. 1 is a view illustrating an exemplary management system 1 for amining machine 4 according to a first embodiment. FIG. 2 is a plan viewillustrating an exemplary mine in which the management system 1 for themining machine 4 according to a first embodiment is applied.

The management system 1 performs management for a mining machine 4. Themanagement for a mining machine 4 includes at least one of operationalmanagement for a mining machine 4, evaluation on productivity of amining machine 4, evaluation on operation technique of an operator of amining machine 4, maintenance for a mining machine 4, and abnormalitydiagnosis for a mining machine 4.

The mining machine 4 is a generic term for machinery used in variouskinds of work in a mine. The mining machine 4 includes at least one of aloading machine, a hauling machine, a crusher, and a vehicle operated bya worker. The loading machine is a mining machine to load matters to beloaded on the hauling machine. The loading machine includes at least oneof an excavator, an electric excavator, and a wheel loader. The haulingmachine includes a moving body movable in a mine, such as a dump truckand also is a mining machine capable of hauling loaded matters. Theloaded matters include at least one of earth, sand, and ore generatedfrom mining work. The crusher crushes earth discharged from the haulingmachine.

In the first embodiment, an example will be described in which a dumptruck 2 provided as a hauling machine that can travel in a mine ismanaged by the management system 1. As illustrated in FIG. 1, the dumptruck 2 travels in a workplace PA of the mine and at least a part of ahauling path HL leading to the workplace PA. The workplace PA is aregion including at least one of the loading place LPA and thedischarging place DPA excluding the hauling path HL. The hauling path HLincludes an intersection IS. The dump truck 2 travels on a travel routeset on the hauling path HL and on the workplace PA. An object isprovided in the vicinity of the hauling path HL. In the firstembodiment, it is assumed that an object provided in the vicinity of thehauling path HL is a bank BK. Meanwhile, an object provided in thevicinity of the hauling path HL may also be a side wall or anartificially manufactured structure. For example, an object may includea metal or concrete.

A dump truck 2 is a movable body movable in a mine. A travel route isset in at least a part of the loading place LPA, discharging place DPA,and hauling path HL.

The loading place LPA is an area where loading work to load matters tobe loaded onto the dump truck 2 is performed. The discharging place DPAis an area where discharging work to discharge a loaded matter from thedump truck 2 is performed. A crusher CR may also be provided in at leasta part of the discharging place DPA.

In the first embodiment, a dump truck 2 is a so-called unmanned dumptruck that autonomously travels on a travel route on the basis of acommand signal from a management device 10. Autonomous travel of thedump truck 2 represents travel in accordance with a command signal fromthe management device 10 without depending on operation by a worker.Meanwhile, the dump truck 2 may also be made to travel by operation of aworker.

In FIG. 1, the management system 1 includes: the management device 10disposed in a control facility 7 constructed in a mine; a communicationsystem 9; a dump truck 2; and a mining machine 3 that is a differentmining machine 4 that differs from the dump truck 2. The managementdevice 10 is installed in the control facility 7 of the mine andbasically stationary, but the management device 10 may also be movable.The communication system 9 performs radio communication for data orcommand signals between the management device 10, the dump truck 2, andthe different mining machine 3. The communication system 9 enablesbidirectional radio communication between the management device 10 andthe dump truck 2, between the management device 10 and the differentmining machine 3, and between the dump truck 2 and the different miningmachine 3. In the first embodiment, the communication system 9 has aplurality of repeaters 6 to relay data or command signals (radio wavesand the like).

In the first embodiment, a position of the dump truck 2 and a positionof the different mining machine 3 are detected by utilizing a globalnavigation satellite system (GNSS). The GNSS represents a globalnavigation satellite system. As an example of the global navigationsatellite system, a GPS described above can be exemplified. The GNSS hasa plurality of positioning satellites 5. The GNSS detects a positiondefined by coordinate data of latitude, longitude, and altitude. Theposition detected by the GNSS is an absolute position defined in aglobal coordinate system. Using the GNSS, a position of the dump truck 2and a position of the different mining machine 3 in the mine aredetected. Meanwhile, in the present specification, the term “absoluteposition” does not represent a position of the dump truck 2 itself butrepresents a highly-accurate estimated position for the real position ofthe dump truck 2.

In the following description, a position detected by the GNSS will besuitably referred to as a GPS position. The GPS position is an absoluteposition and also is coordinate data of latitude, longitude, andaltitude. In the GNSS, a positioning state (accuracy of position) ischanged by influence of at least one of arrangement of the positioningsatellites 5, the number of the positioning satellites 5, an ionosphere,a troposphere, and a topography around an antenna that receives datafrom each of the positioning satellites 5. The positioning stateincludes, for example, a fix solution (accuracy from ±1 cm to 2 cm), afloat solution (accuracy from ±10 cm to several m), a single solution(accuracy of about ±several m), and a non-positioning state (impossibleto perform positioning calculation).

The management system 1 manages, in an XY coordinate system, a positionand an azimuth direction of the dump truck 2 and a position and anazimuth direction (oriented direction) of the different mining machine 3in the mine, and the XY coordinate system is defined in an X-axisdirection inside a horizontal surface and a Y-axis direction orthogonalto the X-axis direction inside the horizontal surface. The azimuthdirection of the dump truck 2 represents an advancing direction of thedump truck 2 that travels.

<Management Device>

Next, the management device 10 disposed in the control facility 7 willbe described. The management device 10 transmits data and a commandsignal to a dump truck 2 and receives data from the dump truck 2. Asillustrated in FIG. 1, the management device 10 includes a computer 11,a display device 16, an input device 17, and a radio communicationdevice 18.

The computer 11 includes a processing device 12, a storage device 13,and an input/output unit (input/output interface) 15. The display device16, input device 17, and radio communication device 18 are connected tothe computer 11 via the input/output unit 15.

The processing device 12 executes various kinds of processing related tomanagement for a dump truck 2 and various kinds of processing related tomanagement for a different mining machine 3. The processing device 12acquires positional data of the dump truck 2 and positional data of thedifferent mining machine 3 via the communication system 9 in order toperform various kinds of processing.

FIG. 2 is a schematic diagram illustrating a dump truck 2 traveling on ahauling path HL. The processing device 12 sets a travel route RP wherethe dump truck 2 travels. The travel route RP is defined by course dataCS. The course data CS is an aggregate of a plurality of points PI ateach of which an absolute position (coordinate data of latitude,longitude, and altitude) is defined. In other words, a trajectorypassing the plurality of points PI is a travel route RP. The processingdevice 12 functions as a course data creation unit that creates coursedata CS defining a travel route RP of a dump truck 2. The processingdevice 12 creates the course data CS to set the travel route RP.

The storage device 13 is connected to the processing device 12, andstores various kinds of data related to management for a dump truck 2and various kinds of data related to management for a different miningmachine 3. The storage device 13 stores positional data of the dumptruck 2 and positional data of different mining machine 3.

The display device 16 can display a map including the hauling path HLand the like in the mine, positional data of the dump truck 2, andpositional data of the different mining machine 3. The input device 17includes at least one of a keyboard, a touch panel, and a mouse, andfunctions as an operation unit capable of inputting operation signals tothe processing device 12.

The radio communication device 18 has an antenna 18A, is disposed in thecontrol facility 7, and connected to the processing device 12 via theinput/output unit 15. The radio communication device 18 is a part of thecommunication system 9. The radio communication device 18 can receivedata transmitted from at least one of the dump truck 2 and the differentmining machine 3. The data received by the radio communication device 18is output to the processing device 12 and stored in the storage device13. The radio communication device 18 can transmit data to at least oneof the dump truck 2 and the different mining machine 3.

FIG. 3 is a functional block diagram of the management device 10. Themanagement device 10 includes: a travel route generation unit 19 togenerate a travel route where the dump truck 2 travels; an identifyingunit 14 to identify a first area having high perfection of map data anda second area having low perfection of map data out of regions in thevicinity of the travel route where the dump truck 2 travels; the storagedevice 13 to store map data; and the radio communication device 18.

The computer 11 includes the input/output unit 15 for communication, anarithmetic processing device having a microprocessor such as a centralprocessing unit (CPU) to execute a control program, an external storagedevice such as a read only memory (ROM) to store the control program, amain storage device (internal storage device) such as a random accessmemory (RAM) used as a work area of the CPU, and an external storagedevice (auxiliary storage device) such as a nonvolatile memory in whichdata is registered by the CPU. The functions of the processing device 12are implemented by the CPU reading the control program stored in the ROMand executing the same in the work area of the RAM. The functions of thestorage device 13 are implemented by the ROM storing the control programand having the data registered in the nonvolatile memory by the CPU. Thenonvolatile memory includes at least one of a flash memory and a harddisk drive, and implements a database 13B. Note that the functions ofthe processing device 12 and the storage device 13 may also beimplemented by cooperation of a plurality of processing circuits.

<Different Mining Machine>

Next, a different mining machine 3 will be described. The differentmining machine 3 is a mining machine other than a dump truck 2 andactuated by operation of a worker. The different mining machine 3includes: a processing device that includes a CPU and executes variouskinds of processing related to work content; a GPS receiver that detectsa GPS position; and a radio communication device that exchanges datawith the radio communication device 18 of the control facility 7. Thedifferent mining machine 3 transmits a GPS position of an own machine tothe radio communication device 18 of the control facility 7 at apredetermined time interval.

<Dump Truck>

Next, a dump truck 2 will be described. FIG. 4 is a control blockdiagram of the dump truck 2 according to the first embodiment. FIG. 5 isa hardware configuration diagram of the dump truck 2 according to thefirst embodiment. FIG. 6 is a front view of a non-contact sensor 24 ofthe dump truck 2 according to the first embodiment. FIG. 7 is a planview illustrating a detection area by a laser sensor 24B of thenon-contact sensor 24. FIG. 8 is a side view illustrating a detectionarea by the laser sensor 24B of the non-contact sensor 24.

As illustrated in FIG. 4, a control system 30 includes at least a travelcontroller 20, a travel route determination device 32, a scan matchingnavigation position measurement controller 33, and a safety controller40. Furthermore, the travel controller 20 can receive signals from agyro sensor 26 and a speed sensor 27. The travel route determinationdevice 32 can receive signals from a GPS receiver 31 and a radiocommunication device 34. The scan matching navigation positionmeasurement controller 33 can receive signals or data from thenon-contact sensor 24 and a map storage database 36. The safetycontroller 40 can receive a signal from the non-contact sensor 24.Additionally, the scan matching navigation position measurementcontroller 33 includes a determination unit 33A, a scan matchingnavigation position calculation unit 33B, a map data creation unit 33C,a storage unit 33D, an observation point coordinate conversion unit 38,and an observation point availability determination unit 39.

As illustrated in FIG. 5, a dump truck 2 includes a vehicle body 21, avessel 22, wheels 23, the non-contact sensor 24, and the control system30. The vehicle body 21 is provided with an engine 2E like a dieselengine, a generator 2G actuated by the engine 2E, and an electric motor23M actuated by electric power generated by the generator 2G. The wheels23 include front wheels 23F and rear wheels 23R. The rear wheels 23R aredriven by the electric motor 23M. Meanwhile, power of the engine 2E maybe transmitted to the rear wheels 23R via a transmission including atorque converter. Additionally, the vehicle body 21 is provided with asteering device 2S to steer the front wheels 23F. On the vessel 22,matters to be loaded are loaded by a loading machine. In dischargingwork, the vessel 22 is lifted and the loaded matters are discharged fromthe vessel 22.

As illustrated in FIG. 6, the non-contact sensor 24 is disposed at alower portion of a front portion of the vehicle body 21. The non-contactsensor 24 detects an object around a dump truck 2 in a non-contactmanner. The object around the dump truck 2 includes an object (bank BK,side wall, or the like) existing in the vicinity of a travel route RP.The non-contact sensor 24 functions as an obstacle sensor to detect anobstacle ahead of the dump truck 2 in a non-contact manner.

The non-contact sensor 24 can detect a relative position of an objectwith respect to the non-contact sensor 24 (dump truck 2). Thenon-contact sensor 24 includes a radar 24A and a laser sensor 24B. Thelaser sensor 24B has resolution performance higher than resolutionperformance of the radar 24A.

The radar 24A emits radio waves, irradiates an object with the radiowaves, and receives radio waves reflected at the object. Thus, the radar24A can detect a direction and a distance of the object with respect tothe radar 24A. In the first embodiment, three radars 24A are provided ina manner spaced from each other in a lateral direction of the vehiclebody 21.

The laser sensor 24B emits laser beams, irradiates the object with thelaser beams, and receives laser beams reflected at the object.Consequently, the laser sensor 24B can detect a direction and a distanceof the object with respect to the laser sensor 24B. In the firstembodiment, two laser sensors 24B are provided in a manner spaced fromeach other in the lateral direction of the vehicle body 21.

Each of the two laser sensors 24B emits a plurality of laser beamshaving different azimuth directions in an up-down direction (verticaldirection), and laterally swings each of the plurality of laser beamssuch that a beam irradiation area IAH of the laser beams is set at apredetermined angle in the lateral direction (horizontal direction). Asillustrated in FIG. 7, the two laser sensors 24B swing the laser beamssuch that irradiation areas IAH of the laser beams emitted from the twolaser sensors 24B mutually overlap at a center in the lateral direction.As illustrated in FIG. 8, each of the laser sensors 24B irradiates, withthe laser beams, an irradiation area IAV inclined downward from thevehicle body 21. The irradiation areas IAH and IAV of the laser beamsare detection areas of an object and the like detected by the lasersensors 24B. During travel of the dump truck 2, an installation positionof each of the laser sensors 24B and an irradiation area with the laserbeams are determined such that an object (bank BK) in the vicinity ofthe travel route RP is arranged in the detection area of the lasersensors 24B. Meanwhile, an irradiation range of a radar 24A is alsodefined, but illustration of the irradiation range is omitted in FIGS. 7and 8.

The non-contact sensors 24 including the radars 24A and the lasersensors 24B are connected to the scan matching navigation positionmeasurement controller 33 via a second communication line 37 controlsystem of the control system 30.

<Control System>

Next, the control system 30 will be described. FIG. 9 is a diagram todescribe a method in which the travel controller 20 of the controlsystem 30 according to the first embodiment calculates a position and anazimuth direction in a GPS travel mode. FIG. 10 is a diagram to describea method in which the scan matching navigation position calculation unit33B of the scan matching navigation position measurement controller 33of the control system 30 according to the first embodiment calculates aposition and an azimuth direction in a scan matching navigation travelmode. FIG. 13 is a diagram illustrating a part of map data MI stored inthe map storage database 36 of the control system 30 according to thefirst embodiment. FIG. 14 is an enlarged view of a portion XIV in FIG.13.

The control system 30 is installed in a dump truck 2. The control system30 causes the dump truck 2 to autonomously travel along a travel routeRP. As illustrated in FIG. 5, the control system 30 includes the gyrosensor 26, speed sensor 27, GPS receiver 31, travel route determinationdevice 32, scan matching navigation position measurement controller 33,travel controller 20, non-contact sensors 24, radio communication device34, and map storage database 36. Additionally, the control system 30includes a first communication line 35, the second communication line37, and the safety controller 40.

As illustrated in FIG. 5, the travel controller 20, travel routedetermination device 32, scan matching navigation position measurementcontroller 33, map storage database 36, and safety controller 40 areconnected to the first communication line 35, and perform datacommunication via the first communication line 35. The travel controller20 and the safety controller 40 are also connected to the secondcommunication line 37, and perform data communication via the secondcommunication line 37.

The gyro sensor 26 detects an azimuth direction (change amount inazimuth direction) of the dump truck 2. The gyro sensor 26 is connectedto the travel controller 20, and outputs detection data to the travelcontroller 20. The travel controller 20 calculates an azimuth direction(change amount in azimuth direction) of the dump truck 2 on the basis ofthe detection data obtained by the gyro sensor 26.

The speed sensor 27 detects a rotational speed of the wheels 23 anddetects a travel speed of the dump truck 2. The speed sensor 27 isconnected to the travel controller 20 and outputs detection data to thetravel controller 20. The travel controller 20 calculates a moveddistance of the dump truck 2 on the basis of the detection data obtainedby the speed sensor 27 and time data measured by a timer built insidethe travel controller 20.

The GPS receiver 31 is provided in the dump truck 2 and detects anabsolute position (GPS position) of a dump truck 2. An antenna 31A thatreceives data from a positioning satellite 5 is connected to the GPSreceiver 31. The antenna 31A outputs, to the GPS receiver 31, a signalbased on the data received from the positioning satellite 5. The GPSreceiver 31 detects a position (GPS position) of the antenna 31A byusing the data from the positioning satellite 5.

In the course of detecting the position of the antenna 31A, the GPSreceiver 31 detects that a detected GPS position has a fix solution, afloat solution, or a single solution to indicate detection accuracythereof.

In a case of detecting any one of a fix solution, a float solution, anda single solution to indicate accuracy of a detected GPS position, theGPS receiver 31 outputs, together with accuracy of the detected GPSposition, a positioning signal indicating a fact that that the GPSposition is subjected to positioning calculation. In a case where theGPS position cannot be subjected to positioning calculation, the GPSreceiver 31 outputs a non-positioning signal indicating anon-positioning state. The positioning signal or the non-positioningsignal is output to the travel controller 20 and the scan matchingnavigation position measurement controller 33 via the travel routedetermination device 32. In the first embodiment, in a case whereaccuracy of a GPS position is a fix solution, the dump truck 2 canperform autonomous travel on the basis of the detected GPS position. Ina case where accuracy of a GPS position is a float solution and a singlesolution or in a case where a GPS position cannot be subjected topositioning calculation, the dump truck 2 cannot autonomously travel onthe basis of the detected GPS position.

As illustrated in FIG. 4, the travel route determination device 32 isconnected to the radio communication device 34 to which an antenna 34Ais connected. The radio communication device 34 can receive a commandsignal or data transmitted from at least one of the management device 10and a different mining machine 4 other than the own vehicle. The miningmachine 4 other than the own vehicle includes: a mining machine 4 otherthan a dump truck 2, such as a boring machine, an excavating machine, aloading machine, a hauling machine, and a vehicle operated by a worker;and a dump truck 2 other than the own vehicle.

The radio communication device 34 receives a command signal transmittedfrom the radio communication device 18 of the control facility 7 andoutputs the same to the travel controller 20 and the scan matchingnavigation position measurement controller 33 via the travel routedetermination device 32. The command signal includes travel conditiondata indicating travel conditions of the dump truck that is the ownvehicle. The travel condition data includes course data generated by theprocessing device 12 and travel speed data of the dump truck 2. Thecourse data of the own vehicle is defined in the XY coordinate system.The travel route determination device 32 receives the course data fromthe radio communication device 34 and stores the same in a routeposition storage unit 32A. Furthermore, the travel route determinationdevice 32 transmits positional data and azimuth direction data of thedump truck 2 that is the own vehicle to the radio communication device18 of the control facility 7 via the radio communication device 34.Additionally, the travel route determination device 32 is connected tothe first communication line 35, and transmits command signals tovarious controllers such as the scan matching navigation positionmeasurement controller 33 and travel controller 20.

The travel route determination device 32 includes an input/output unitfor communication, an arithmetic processing device having amicroprocessor such as a central processing unit (CPU) to execute acontrol program, a main storage device (internal storage device) such asa random access memory (RAM) used as a work area of the arithmeticprocessing device, an external storage device (auxiliary storage device)such as a read only memory (ROM) to store the control program, and anexternal storage device (auxiliary storage device) such as a nonvolatilememory in which data is registered by the arithmetic processing device.The functions of the travel route determination device 32 areimplemented by the arithmetic processing device reading the controlprogram stored in the external storage device and executing the same inthe work area of the main storage device. The route position storageunit 32A is implemented by an external storage device and an externalstorage device. The external storage device includes at least one of aflash memory and a hard disk drive. Note that the functions of thetravel route determination device 32 may also be implemented bycooperation of a plurality of processing circuits.

<Travel Controller>

The travel controller 20 includes a central processing unit (CPU), aread only memory (ROM) to store a control program, a random accessmemory (RAM) used as a work area of the CPU, and a nonvolatile memory.As described later, the travel controller 20 receives positional dataindicating a GPS position of a dump truck 2 detected by the GPS receiver31 and positional data indicating an absolute position of the dump truck2 calculated by the scan matching navigation position calculation unit33B of the scan matching navigation position measurement controller 33,and causes the dump truck 2 to autonomously travel along a travel routeRP defined by course data on the basis of at least one of these twokinds of positional data.

The travel controller 20 acquires not only the positional data of thedump truck 2 but also azimuth direction data indicating an azimuthdirection (change amount in azimuth direction) of the dump truck 2,namely, detection data obtained by the gyro sensor 26, and travel speeddata indicating a travel speed of the dump truck 2, namely, detectiondata obtained by the speed sensor 27 in order to cause the dump truck 2to autonomously travel along the travel route RP.

In the first embodiment, the dump truck 2 travels along the travel routeRP in exclusively two travel modes. As illustrated in FIG. 9, a firsttravel mode is the GPS travel mode in which the dump truck 2 is made toautonomously travel on the basis of data of a position and an azimuthdirection estimated by a dead reckoning navigation using detection dataobtained by the GPS receiver 31, detection data obtained by the gyrosensor 26, and detection data 27 obtained by the speed sensor 27. In acase of causing the dump truck 2 to travel in the GPS travel mode, mapdata creation processing described later is executed, and map data MIcreated in the map data creation processing is stored/updated in the mapstorage database 36 as necessary. As illustrated in FIG. 10, a secondtravel mode is a scan matching navigation travel mode in which: data ofa position and an azimuth direction indicating an absolute position ofthe dump truck 2 is calculated by using a method called scan matchingnavigation on the basis of the map data MI created/updated during theGPS travel mode and detection data obtained by a laser sensor 24B; andthe dump truck 2 is made to autonomously travel on the basis of thecalculated data of the position and the azimuth direction of the dumptruck 2. In the scan matching navigation travel mode, the data of theposition and the azimuth direction of the dump truck 2 are calculated bythe scan matching navigation position calculation unit 33B.

The dead reckoning navigation is a navigation in which current positionand azimuth direction of a subject (dump truck 2) are estimated on thebasis of an azimuth direction (change amount in azimuth direction) and amoved distance (speed) from a known position. The azimuth direction(change amount in azimuth direction) of the dump truck 2 is detected byusing the gyro sensor 26 disposed in the dump truck 2. The moveddistance (speed) of the dump truck 2 is detected by using the speedsensor 27 disposed in the dump truck 2. A detection signal from the gyrosensor 26 and a detection signal from the speed sensor 27 are output tothe travel controller 20 of the dump truck 2.

The travel controller 20 generates a control amount related to travel ofthe dump truck 2 while continuing updating a current position of thedump truck 2 estimated at a predetermined time interval by using thedead reckoning navigation method on the basis of a detection signal fromthe gyro sensor 26 and a detection signal from the speed sensor 27 suchthat the dump truck 2 travels in accordance with course data set for thetravel route RP. The control amount includes an accelerator signal, abraking signal, and a steering signal. The travel controller 20 controlstravel (operation) of the dump truck 2 on the basis of the steeringsignal, accelerator signal, and braking signal.

However, estimation of a position and an azimuth direction of the ownvehicle by the dead reckoning navigation is likely to cause an error dueto slight slipping of a tire or the like. In other words, when a traveldistance of the dump truck 2 by the dead reckoning navigation becomeslong, a large amount of errors may be caused between a positionestimated (estimated position) and an actual position due toaccumulation of detection errors in one or both of the gyro sensor 26and the speed sensor 27. As a result, the dump truck 2 may travel in amanner deviated from the course data generated by the processing device12.

In the GPS travel mode, the travel controller 20 corrects a position(estimated position) of the dump truck 2 calculated (estimated) by thedead reckoning navigation using GPS positional data and azimuthdirection data detected at the predetermined time interval by the GPSreceiver 31 (for example, a direction indicating a line that connectscurrently-detected GPS positional data and previously-detected GPSpositional data can be used as the azimuth direction data), therebymaking the dump truck 2 travel while suppressing an amount of errorsaccumulated by the dead reckoning navigation from becoming excessivelylarge. In the scan matching navigation travel mode also, the travelcontroller 20 corrects a position (estimated position) and an azimuthdirection (estimated azimuth direction) of the dump truck 2 calculated(estimated) by the dead reckoning navigation using scan matchingnavigation positional data and azimuth direction data calculated at thepredetermined time interval by the scan matching navigation positioncalculation unit 33B, thereby making the dump truck 2 travel whilesuppressing an amount of errors accumulated by the dead reckoningnavigation from becoming excessively large.

As illustrated in a lower portion in each of FIGS. 11 and 12, the travelcontroller 20 sets, to ta [msec], a cycle of estimating a currentposition of the dump truck 2 by the dead reckoning navigation on thebasis of detection results obtained by the gyro sensor 26 and the speedsensor 27. Additionally, as illustrated in FIG. 11, a detection signalindicating a GPS position corresponding to a detection result obtainedby the GPS receiver 31 is received in the travel controller 20 every tb[msec]. As illustrated in FIG. 11, a frequency of estimating a positionby the dead reckoning navigation is higher than a frequency with which adetection signal from the GPS detector 31 is received in the travelcontroller 20, that is, a frequency with which a GPS position isdetected. Therefore, every time position is estimated by the deadreckoning navigation several times, a GPS position is received in thetravel controller 20 and a current position of the dump truck 2 iscorrected, and therefore, an amount of errors caused by the deadreckoning does not become excessively large.

Furthermore, as illustrated in FIG. 12, positional data indicating aposition and an azimuth direction of the dump truck 2, namely, acalculation result of the scan matching navigation position calculationunit 33B is received in the travel controller 20 every tc [msec]. Asillustrated in FIG. 11, the frequency of estimating a position by thedead reckoning navigation is higher than a frequency with which acalculation result of the scan matching navigation position calculationunit 33B is received in the travel controller 20, that is, a frequencywith which a scan matching navigation position is calculated. Therefore,every time position estimation by the dead reckoning navigation isperformed several times, positional data obtained by the scan matchingnavigation position calculation unit 33B is received in the travelcontroller 20 and a current position of the dump truck 2 is corrected,and therefore, an amount of errors caused by the dead reckoning does notbecome excessively large.

Meanwhile, according to FIGS. 11 and 12, adopted is the frequency withwhich a detection signal indicating a GPS position, and positional dataobtained by the scan matching navigation position calculation unit 33Bare received in the travel controller 20 every time the dead reckoningnavigation is performed several times, but a frequency of performing thedead reckoning navigation may also be set similar to a frequency withwhich a detection signal indicating a GPS position and positional dataobtained by the scan matching navigation position calculation unit 33Bare received in the travel controller 20.

A concrete GPS travel mode will be described with reference to FIG. 9.The travel controller 20 calculates a position and an azimuth directionof the dump truck 2 by the dead reckoning navigation using detectiondata obtained by the speed sensor 27 and detection data obtained by thegyro sensor 26. Additionally, in a case where detection data obtained bythe GPS receiver 31 is received in the travel controller 20, moreaccurate position and azimuth direction are calculated by integrating,using a Kalman filter KF, the position and azimuth direction of the dumptruck 2 calculated by the dead reckoning navigation with the detectiondata obtained by the GPS receiver 31, and such position and azimuthdirection are adopted as current position and azimuth direction of thedump truck 2.

<Scan Matching Navigation Position Measurement Controller>

As illustrated in FIG. 4, the scan matching navigation positionmeasurement controller 33 includes the determination unit 33A, scanmatching navigation position calculation unit 33B, map data creationunit 33C, and storage unit 33D.

The scan matching navigation position measurement controller 33 isconnected to the first communication line 35 and acquires, via the firstcommunication line 35 and the travel controller 20, detection dataobtained by the gyro sensor 26 and detection data obtained by the speedsensor 27. Additionally, the scan matching navigation positionmeasurement controller 33 is connected to the GPS receiver 31 via theradio communication device 34, travel route determination device 32, andfirst communication line 35, and acquires detection data obtained by theGPS receiver 31.

The determination unit 33A determines whether accuracy of a GPS positiondetected by the GPS receiver 31 exceeds predetermined accuracy. Forexample, the determination unit 33A determines whether a solution of aGPS position is a fix solution. In a case where a solution of a GPSposition is a fix solution, the determination unit 33A determines thataccuracy of the detected GPS position of the dump truck 2 is highlyaccurate (in this case, the GPS travel mode is selected as a travel modein the travel controller 20). In a case where a solution of a GPSposition is a float solution or a single solution, or a GPS position isa non-positioning state, the determination unit 33A determines thataccuracy of the detected GPS position of the dump truck 2 is lowaccurate (in this case, the scan matching navigation travel mode isselected as the travel mode in the travel controller 20). Meanwhile, thepredetermined accuracy is accuracy of a GPS position with which the dumptruck 2 can autonomously travel along a travel route RP by the deadreckoning navigation described later. In the first embodiment, the GPSreceiver 31 detects a GPS position and a solution, but another apparatus(such as the determination unit 33A) may also detect a solution.

When the determination unit 33A determines that accuracy of a GPSposition of a dump truck 2 detected by the GPS receiver 31 exceeds thepredetermined accuracy, in other words, determines that the accuracy ishigh (during the GPS travel mode), the map data creation unit 33Cdetects existence of at least one or more banks BK and a positionthereof provided outside a loading place LPA, outside a dischargingplace DPA, and outside a hauling path HL on the basis of a position andan azimuth direction of the dump truck 2 calculated by theabove-described method and a detection result obtained by a laser sensor24B, and stores and accumulates data on existence and a position of thebank BK in the map storage database 36 as map data MI of the travelroute RP as necessary. The map data creation unit 33C integrates theposition and azimuth direction of the dump truck 2 with a detectionresult obtained by a laser sensor 24B, and detects existence and aposition of a bank BK by deleting, from the integrated data, detectionresults other than the bank BK (such as various kinds of noise, groundsurface, and the like). Also, the map data creation unit 33C performssaving in the map storage database 36. Note that the map storagedatabase 36 may be stored in the storage device 13 of the managementdevice 10. In this case, map data created by the map data creation unit33C in the dump truck 2 is transmitted to the map storage database 36via the communication system 9.

Map data MI illustrated in FIG. 12 represents a detection result ofbanks BK in a region around a hauling path HL. The hauling path HL isindicated by a blank region extending in an x direction and located in acenter portion of FIG. 12, and the banks BK are indicated by regionssparsely colored in black and white in an upper portion and a lowerportion of FIG. 12. As illustrated in FIGS. 13 and 14, the map data MIindicates, in the plan view: a position in the XY coordinate systemformed of grids GR that section a mine by a predetermined size; andwhether any bank BK exists in each of the grids GR. Each of the grids GRof the map data MI includes binary data (1 bit data), that is, “0” or“1” to indicate whether any bank BK exists. As illustrated in FIGS. 13and 14, in the first embodiment, when there is a bank BK, each of thegrids GR in the map data MI is indicated by a black square as “1” in thedrawing, and when there is no bank BK, each of the grid GR is indicatedby a white square as “0” in the drawing. Note that map data may beprepared not only as binary data having only values of “0” and “1” butalso as continuous values from 0 to 1 (such as 0.5). For example, avalue may be gradually incremented from 0 to 1 while setting 1 as anupper limit on the basis of the number of times of detecting a bank BKin a certain grid GR.

The map storage database 36 stores positional data of a bank BK as mapdata MI. The map storage database 36 is connected to the firstcommunication line 35. The map storage database 36 is an externalstorage device (auxiliary storage device) including at least one of aROM, a flash memory, and a hard disk drive. Every time the map datacreation unit 33C detects a detection result related to a bank BK, themap storage database 36 stores the same as map data MI. In the firstembodiment, the map data MI stored in the map storage database 36 isoverwritten every time the map data creation unit 33C detects a bank BK.The term “overwrite” means to change a value to “1” when a bank BK isdetected in a grid having a value “0”, and also means to keep a value“1” even when no bank BK is detected in a grid having a value “1”, butnot limited to this example, it may be also possible to change the gridhaving the value “1” to have the value “0”.

The storage unit 33D is a main storage device (internal storage device)having a higher operation speed than the map storage database 36 does.

When the determination unit 33A determines that accuracy of a GPSposition of the dump truck 2 detected by the GPS receiver 31 is thepredetermined accuracy or less, in other words, determines that theaccuracy is low (during the scan matching navigation travel mode), thescan matching navigation position calculation unit 33B calculates aposition and an azimuth direction of the dump truck 2 on the basis of: adetection result obtained by the gyro sensor 26; a detection resultobtained by the speed sensor 27; and a detection result obtained by alaser sensor 24B; and map data MI read from the map storage database 36and stored in the storage unit 33D. Meanwhile, the scan matchingnavigation position calculation unit 33B may also calculate a positionand an azimuth direction of the dump truck 2 by calling the map data MIdirectly from the map storage database 36 without using the storage unit33D.

As illustrated in FIG. 10, the scan matching navigation positioncalculation unit 33B calculates a position and an azimuth direction ofthe dump truck 2 during the scan matching navigation travel mode byintegrating, using a particle filter PF, detection data obtained by thegyro sensor 26, detection data obtained by the speed sensor 27,detection data obtained by a laser sensor 24B, and map data MI stored inthe map storage database 36.

Additionally, as illustrated in FIG. 4, the scan matching navigationposition measurement controller 33 includes the observation pointcoordinate conversion unit 38 and the observation point availabilitydetermination unit 39. The observation point coordinate conversion unit38 converts, into the XY coordinate system, a position of a detectionresult obtained by a laser sensor 24B and indicated by coordinatesdefined with a direction and a distance from the laser sensor 24B on thebasis of a position and an azimuth direction of the own vehicle. Theposition of the detection result obtained by converting the coordinatesby the observation point coordinate conversion unit 38 is defined by aheight direction (Z axis direction) orthogonal to an X axis directionand a Y axis direction in addition to the X axis direction and the Yaxis direction. As described above, the observation point availabilitydetermination unit 39 removes, from the detection result obtained byconverting the coordinates by the observation point coordinateconversion unit 38, various kinds of noise, detection results related toa predetermined height or lower from the ground surface (ground), andthe like as described above. The observation point availabilitydetermination unit 39 outputs a combined detection result to both of themap data creation unit 33C (used to create map data during the GPStravel mode) and the scan matching navigation position calculation unit33B (used to calculate a position and an azimuth direction of the ownvehicle during the scan matching navigation travel mode).

The safety controller 40 determines a relative position between a dumptruck 2 and an object (bank BK, side wall, obstacle, or the like) on thebasis of detection signals from a radar 24A and a laser sensor 24B. Thesafety controller 40 outputs existence of an obstacle to the travelcontroller 20 on the basis of relative positional information withrespect to the object. The travel controller 20 generates a command tocontrol at least one of the accelerator, braking device 23B, andsteering device 2S on the basis of a signal acquired from the safetycontroller 40, and prevents the dump truck 2 from colliding with anobject by controlling the dump truck 2 on the basis of the command.

<Method of Determining Travel Mode>

Next, exemplary travel modes of a dump truck 2 according to the firstembodiment will be described. FIG. 15 is an exemplary flowchart of thecontrol system 30 according to the first embodiment. FIG. 16 is anexemplary flowchart of step ST4 in FIG. 15. FIG. 17 is a diagramillustrating an exemplary partial region of map data MI read into thestorage unit 33D from the map storage database 36 according to the firstembodiment. FIG. 18 is a diagram illustrating an exemplary detectionresult actually detected by a laser sensor 24B of the control system 30according to the first embodiment. FIG. 19 is a diagram illustrating anexemplary state in which the scan matching navigation positioncalculation unit 33B has calculated a position and an azimuth directionof the own vehicle on the basis of a detection result actually detectedby a laser sensor 24B of the control system 30 according to the firstembodiment.

The flowchart in FIG. 15 will be described below. The travel controller20 of the control system 30 executes step ST1 to cause a dump truck 2 totravel by the dead reckoning navigation in accordance with course dataset for a travel route RP. Meanwhile, as illustrated in FIGS. 11 and 11,in a case where the frequency of position estimation by the deadreckoning navigation is higher than the frequency of detecting a GPSposition from the GPS receiver 31, the dead reckoning navigation isperformed a plurality of times in step ST1.

Next, after the GPS receiver 31 detects a GPS position, thedetermination unit 33A of the scan matching navigation positionmeasurement controller 33 executes step ST2 to determine whetheraccuracy of the GPS position is highly accurate. More specifically, thedetermination unit 33A of the scan matching navigation positionmeasurement controller 33 determines whether a solution of the GPSposition detected by the GPS receiver 31 is a fix solution. When thedetermination unit 33A of the scan matching navigation positionmeasurement controller 33 determines that a solution of the GPS positiondetected by the GPS receiver 31 is a fix solution, in other words,determines that accuracy of the GPS position of the dump truck 2detected by the GPS receiver 31 exceeds the predetermined accuracy (stepST2: Yes), the determination result is transmitted to the travelcontroller 20, and the travel controller 20 shifts a current travel modeto the GPS travel mode, or continues the GPS travel mode in a case wherethe current travel mode is already the GPS travel mode (ST3).

Next, map data creation processing is executed by the map data creationunit 33C (step ST4), and the map data creation unit 33C creates map dataMI. More specifically, the scan matching navigation position measurementcontroller 33 executes step ST4 to: cause the dump truck 2 toautonomously travel in accordance with course data stored in the routeposition storage unit 32A on the basis of the GPS position of the dumptruck 2 detected by the GPS receiver 31 and a position and an azimuthdirection calculated by the dead reckoning navigation; also extract adetection result related to a bank BK from a detection result obtainedby a laser sensor 24B; and store the extracted detection result relatedto the bank BK in the map storing database 36 as map data MI of thetravel route RP.

The flowchart in FIG. 16 will be described. First, on the basis of aposition and an azimuth direction of the dump truck 2, the observationpoint coordinate conversion unit 38 converts, into a coordinate positionindicated by X-Y coordinates, a position of a detection result obtainedby a laser sensor 24B and indicated by coordinates defined with adirection and a distance from the laser sensor 24B (step ST41).

The observation point availability determination unit 39 extracts adetection result related to a bank BK from the detection result obtainedby converting the coordinates by the observation point coordinateconversion unit 38 (step ST42). At the time of extracting a detectionresult related to a bank BK, the observation point availabilitydetermination unit 39 may remove various kinds of noise from thedetection result obtained by converting the coordinates by theobservation point coordinate conversion unit 38, in which examples ofvarious kinds of noise may be: a detection result in which a laser beamseems to have detected dust; a detection result in which a laser beamseems to have been reflected at the ground; a detection result in whicha laser beam seems to have detected a clod of earth; and the like.

The observation point availability determination unit 39 outputs, to themap data creation unit 33C, the detection result from which variouskinds of noise and the like have been removed, and the map data creationunit 33C performs overwriting and stores, in the map storage database36, a position of a bank BK that is the detection result indicating theposition in the XY coordinate system as map data MI formed of the gridsGR (step ST43). As described above, the term “overwrite” means to changethe value to “1” (existing) in a case of receiving a detection result ofdetecting a new bank BK in a grid having been indicated by “0” (notexisting) till then, and also means to keep the value “1” even when adetection result of detecting no existence of a new bank in the gridhaving been indicated by “1” till then. Additionally, while accuracy ofa GPS position of the dump truck 2 detected by the GPS receiver 31exceeds the predetermined accuracy and the GPS travel mode is continued,the control system 1 continues, as needed, extracting a detection resultrelated to a bank BK from a detection result obtained by a laser sensor24B and performs overwriting to store the extracted detection resultrelated to the bank BK as the map data MI of the travel route RP byexecuting processing from step ST1 to step ST4.

Additionally, when the determination unit 33A of the scan matchingnavigation position measurement controller 33 determines that a solutionof a GPS position detected by the GPS receiver 31 is not a fix solution,in other words, determines that accuracy of the GPS position of the dumptruck 2 detected by the GPS receiver 31 is the predetermined accuracy orless (step ST2: No), the determination result is transmitted to thetravel controller 20, and the travel controller 20 shifts the currenttravel mode to the scan matching navigation travel mode, or continuesthe scan matching navigation travel mode in a case where the currenttravel mode is already the scan matching navigation travel mode (ST5).

More specifically, the scan matching navigation position calculationunit 33B calculates a position and an azimuth direction of the dumptruck 2 and causes the dump truck 2 to travel along a travel route RP onthe basis of detection data obtained by a laser sensor 24B and the mapdata MI stored in the map storage database 36 and read into the storageunit 33D (step ST6). In other words, the scan matching navigationposition measurement controller 33 calculates a position and an azimuthdirection of the dump truck 2 by matching a detection result obtained bythe laser sensor 24B with the map data MI stored in the map storagedatabase 36. Meanwhile, even during the scan matching navigation travelmode, in a case where calculation of a position and an azimuth directionis performed by the scan matching navigation position calculation unit33B after performing the dead reckoning navigation several times withthe frequencies of calculating a position and an azimuth direction bythe dead reckoning navigation and the scan matching navigation positioncalculation unit 33B as illustrated in FIG. 12, a position and anazimuth direction calculated by the scan matching navigation positioncalculation unit 33B may be adopted as current position and azimuthdirection of the dump truck 2 instead of a position and an azimuthdirection of the dump truck 2 having been estimated by the deadreckoning navigation till then.

As illustrated in FIGS. 17 to 19, the scan matching navigation positioncalculation unit 33B calculates current position and azimuth directionof a dump truck from a detection result obtained by a laser sensor 24Bon the basis of the map data MI read into the storage unit 33D from themap storage database 36. In calculation performed by the scan matchingnavigation position calculation unit 33B, a plurality of points(particles) PA virtually arranged within a range where the dump truck 2is expected to exist at a certain time point is used so as to calculatea position and an azimuth direction close to real values of the dumptruck 2 while suppressing a calculation cost. Since self positionestimation using the particles is a known method, a detailed descriptionthereof will be omitted.

In the map data MI illustrated in FIG. 17, each square represents a gridGR. Additionally, a colored grid DR1 is a grid where a bank BK isdetected, and a white-colored grid DR3 indicates a grid DR3 where nobank BK is detected. FIG. 18 illustrates detection data DR2 actuallydetected by a laser sensor 24B.

As illustrated in FIG. 19, a final estimation value (expected value) POof a position and an azimuth direction in which probability of existenceof the dump truck 2 is high is finally calculated by: matching the mapdata MI illustrated in FIG. 17 with a detection result illustrated inFIG. 18 and obtained by a laser sensor 24B; and using the method of selfposition estimation using the particles. In other words, the finalestimation value PO is not necessarily selected from a position whereany one of the particles PA has existed. As illustrated in FIG. 19, thescan matching navigation position calculation unit 33B calculates aposition and an azimuth direction (final estimation value PO) of thedump truck in which a grid DR1 where a bank BK is detected in the mapdata MI is closest to the detection data DR2 actually detected by thelaser sensor 24B. When the final estimation value PO is calculated, thescan matching navigation position calculation unit 33B calculates:estimation accuracy indicating smallness of a difference between thefinal estimation value PO and an absolute position (detected position bythe GPS detector 31) of the dump truck 2; and reliability indicatingappropriateness (likelihood) of the final estimation value PO. Theappropriateness (likelihood) is a general idea to indicate a matchingdegree at the time of comparing already existing map data with adetection result obtained by a laser sensor 24B. Meanwhile, in FIGS. 17to 19, a grid GR where a bank BK exists is indicated by dense parallelhatching, and a detection result of an actual bank BK is indicated bycoarse parallel hatching.

Additionally, the scan matching navigation position calculation unit 33Bdeems the calculated position and azimuth direction of the dump truck 2as the current position and azimuth direction of the dump truck, and thetravel controller 20 again executes the dead reckoning navigation (stepST1) and controls travel (operation) of the dump truck 2 such that thedump truck 2 travels along the travel route RP. Thus, while accuracy ofa GPS position of the dump truck 2 detected by the GPS receiver 31 isthe predetermined accuracy or less and also the scan matching navigationtravel mode is continued, the control system 30 continues calculating aposition and an azimuth direction of the dump truck 2 by matching adetection result obtained by a laser sensor 24B with the map data MI ofthe travel route RP stored in the map storage database 36 by executingthe processing in steps ST1, ST2, ST5, and ST6, and at the same time,the travel controller 20 makes the dump truck 2 travel along the travelroute RP by the dead reckoning navigation on the basis of the positionand the azimuth direction of the dump truck 2 calculated by the scanmatching navigation position measurement controller 33.

<Method of Setting Travel Route>

As described above, in a case where a dump truck 2 travels on a travelroute RP, a position and an azimuth direction of the dump truck 2derived by the dead reckoning navigation are corrected on the basis of aGPS position detected by the GPS receiver 31 in a case of the GPS travelmode, and current position and azimuth direction of the dump truck 2 arecorrected on the basis of a position and an azimuth direction calculatedby the scan matching navigation position calculation unit 33B in a caseof the scan matching navigation travel mode. In the followingdescription, controlling travel of a dump truck 2 by using a GPSposition that is a detection data detected by the GPS receiver 31 willbe suitably referred to as GPS travel, and controlling travel of a dumptruck 2 by using a position and an azimuth direction calculated by thescan matching navigation position calculation unit 33B will be suitablyreferred to as scan matching navigation travel.

The GPS receiver 31 can receive a signal from a GPS and detect anabsolute position of a dump truck 2, but in the event of ionospherescintillation or the like, there may be a case where a signal cannot bereceived from the GPS. The GPS receiver 31 is needed to receive signalsfrom a plurality of GPSs located in the sky in order to accuratelydetect an absolute position of a dump truck 2 with high accuracy.However, in a time zone during which ionosphere scintillation or thelike is occurring, the number of satellites from which the GPS receiver31 can receive signals is reduced, and therefore, accuracy of absoluteposition detection by a GPS is lowered. In other words, since accuracyof GPS position detection is lowered in the time zone during which theionosphere scintillation or the like is occurring, the dump truck 2cannot perform the GPS travel and has to perform the scan matchingnavigation travel. To prevent deterioration of productivity in mining,it is necessary to create map data for the vicinity of a travel routewhere the dump truck 2 travels before occurrence of ionospherescintillation or the like.

As illustrated in FIG. 2, in a case where the dump truck 2 travels onthe hauling path HL, there is an object such as a bank BK or a side wallin the vicinity of the travel route RP, and therefore, map data of thevicinity of the travel route can be created without changing a positionof the travel route during the GPS travel. Additionally, in a region forwhich the map data is created, the dump truck 2 can continue travelingby the scan matching navigation travel even when GPS accuracy is lowereddue to occurrence of ionosphere scintillation or the like, anddeterioration of productivity can be prevented.

On the other hand, in a case where the dump truck 2 travels in aworkplace PA such as a loading place LPA and a discharging place DPA, atravel route to be the shortest distance from an entrance to a targetposition (loading position, discharging position, or the like) of theworkplace PA is set.

FIG. 20 is a view illustrating an exemplary travel route set in aloading place LPA according to the first embodiment. A dump truck 2travels on the basis of on the travel route set in the loading place LPAby the processing device 12. In the loading place LPA, a travel routeRPa located in a center of the loading place LPA and being the shortestdistance from the entrance to a loading position of the loading placeLPA is normally set while the dump truck 2 sets the loading position bya loading machine 3 as a target position. However, since there is noobject such as a bank BK or a side wall in the vicinity of the travelroute RPa, map data for the vicinity of the travel route RPa cannot becreated even in a case where a dump truck 2 a has traveled on the travelroute RPa during the GPS travel. Therefore, in the case where the GPSaccuracy is lowered due to occurrence of ionosphere scintillation or thelike, the dump truck cannot travel on the travel route RPa even by usingthe scan matching navigation, and productivity is deteriorated.

To prevent deterioration of the productivity even in occurrence of theionosphere scintillation or the like, it is necessary to set a travelroute in the vicinity of a position where an object like a bank BKexists in order to create the map data. Accordingly, it is conceivableto set a travel route RPb in the vicinity of an outer periphery regionwhere a bank BK or a side wall exists in the loading place LPA. Duringthe GPS travel, that is, during the map data creation processing, a bankBK or the like (including a side wall) existing in the outer peripheryof the loading place LPA can be detected by a non-contact sensor 24 bymaking a dump truck 2 b travel on the travel route RPb located in theouter periphery region of the loading place LPA, and map data is createdby the map data creation processing executed by the scan matchingnavigation position measurement controller 33.

In a case where the map data for the outer periphery region of theloading place LPA is created and the scan matching navigation travelcomes to be able to be performed on the travel route RPb, the scanmatching navigation position measurement controller 33 can perform thescan matching navigation travel even when GPS accuracy is lowered due tooccurrence of ionosphere scintillation or the like. In other words, thedump truck 2 b can continue traveling on the travel route RPb, anddeterioration of productivity can be prevented.

Meanwhile, the travel route RPb that passes the outer periphery regionof the loading place LPA makes a longer detour up to the target positionthan the travel route RPa that is the shortest route passing the centerregion of the loading place LPA. Therefore, in a case where a dump truck2 constantly travels on the travel route RPb during the GPS travel,productivity may be deteriorated. Therefore, for example, a dump truck 2may be arranged so as to travel on the travel route RPa during normaloperation and a dump truck 2 may be arranged so as to travel on thetravel route RPb a little before an expected time when ionospherescintillation or the like starts to occur. Since the dump truck 2 isthus arranged to travel on the travel route RPb, map data of thevicinity of the travel route RPb is created.

Then, after it is determined that the map data is created to a level inwhich a dump truck 2 can travel on the travel route RPb by the scanmatching navigation, the dump truck 2 may be arranged so as to travelagain on the travel route RPa. For example, when a dump truck 2 travelson the travel route RPb predetermined number of times, the dump truck 2may be arranged so as to travel again on the travel route RPa.

Next, a specific method in which the dump truck 2 b in FIG. 20 travelson the travel route RPb will be described. To accurately calculate aposition of a dump truck 2 by the scan matching navigation, it isnecessary to arrange many colored grids DR1 in the vicinity of thetravel route RPb. For this, it is necessary to create map data by makinga dump truck 2 travel more on the travel route RPb in the GPS travelmode (map data creation processing) to cause a non-contact sensor todetect an object (bank BK or side wall) located in the vicinity of thetravel route RPb.

The dump truck 2 is made to travel on the same travel route RP aplurality of times, and the larger number of the colored grids DR1 isarranged in the vicinity of the travel route RP, the higher perfectionof map data for the travel route RP can be achieved. In a case where thedump truck 2 travels, by the scan matching navigation travel mode, onthe travel route RP having high perfection of map data, an absoluteposition of the dump truck 2 can be calculated with high accuracy by thescan matching navigation position calculation unit 33B. Meanwhile, highperfection of map data may also be achieved by making a plurality ofdump trucks 2 travel on the same travel route RP and superimposingresults of map data created by the respective dump trucks 2.

The perfection of map data can be determined in an arbitrary region inthe vicinity of the travel route RP on the basis of a ratio between acolored grid DR1 (first detection data) and a non-colored grid DR3(second detection data). For example, in a case where a ratio of thecolored grids DR1 is a predetermined value or more in a predeterminedregion in the vicinity of the travel route RP (similar to a case where aratio of the non-colored grids DR3 is less than a predetermined value),perfection of map data may be identified as high, and in a case wherethe ratio of the colored grids DR1 is less than the predetermined value,perfection of map data may be identified as low.

Meanwhile, to identify perfection of map data, determination may be madeon the basis of the number of times a dump truck 2 has traveled on acertain travel route. For example, in a case where the dump truck 2travels on the certain travel route predetermined number of times ormore, perfection of map data of the travel route may be determined ashigh, and perfection of map data may be determined as low for a travelroute where the dump truck 2 travels less than the predetermined numberof times.

Additionally, a following method may also be used to identify perfectionof map data. At the time of traveling on a certain travel route by theGPS travel, position calculation is executed by the scan matchingnavigation in the scan matching navigation position calculation unit 33Bwhile traveling is performed measuring a position of a dump truck 2 byusing a GPS. Then, on the basis of estimation accuracy orappropriateness (likelihood) of a result obtained from the positioncalculation, perfection of map data at a position on the travel routesubjected to the position calculation may be identified.

In that case, for example, in a case where estimation accuracy andlikelihood of the result obtained from position calculation by the scanmatching navigation is high, perfection of map data in the position canbe determined as high, and in a case where estimation accuracy orlikelihood of the result obtained from the position calculation by thescan matching navigation is low, perfection of map data in the positioncan be determined as low.

In this position calculation, perfection of map data at a certainposition (for example, one point like a final estimated value Po in FIG.19) is merely determined, and therefore, in a case where positions eachhaving low perfection of map data continuously exist in a travel route,an area or a travel route having low perfection of the map data may beidentified by combining these positions.

Additionally, for example, in a case of identifying a position, an area,or a travel route having low perfection of map data, such a position,area, or travel route is output to the display device 16, and asupervisor may be able to confirm the position, area, or travel routehaving the low perfection of the map data by displaying the position,area, or travel route on the display device 16.

As a criterion to differentiate an area having a high perfection of mapdata from an area having a low perfection thereof, it is possible toadopt a determination criterion in which, for example, determination ismade on the basis of whether colored grids DR1 are formed to an extentthat predetermined estimation accuracy and likelihood are ensured inposition calculation by the scan matching navigation. In other words,whether a dump truck 2 can travel on a travel route RP with thepredetermined estimation accuracy and likelihood by the scan matchingnavigation can be adopted as the determination criterion.

FIG. 21 illustrates a state in which a dump truck 2 creates map data ina bank BK by performing the GPS travel in the vicinity of the bank BK ina loading place LPA. A travel route RPb in the workplace PA is set suchthat the bank BK of the workplace PA is located in a detection area of alaser sensor 24B. The processing device 12 having the travel routegeneration unit 19 holds positional data of the bank BK in the workplacePA from, for example, mine map information obtained from a preliminarilycourse survey in a mine.

As illustrated in FIG. 21, a colored grid DR1 is formed in the vicinityof the travel route RPb after the dump truck 2 has traveled. Then, anarea having a ratio of the colored grids DR1 being a predetermined valueor more is identified as a first area AR1 that is the area having highperfection of map data, and an area having low perfection of map data isidentified as a second area AR2. A first area AR1 and a second area AR2are identified by the identifying unit 14 of the management device 10,for example. In a case of the loading place LPA in FIG. 21, the ratio ofthe colored grids DR1 is less than the predetermined value in a regiondetermined as the second area AR2, and the ratio of the colored gridsDR1 is larger than the predetermined value in a region determined as thefirst area AR1. The first area AR1 and second area AR2 are defined inthe global coordinate system.

A first area AR1 includes an area where the ratio of the colored gridsDR1 is a predetermined ratio or more because the dump truck 2 hastraveled in the past for the map data creation processing. On the otherhand, a second area AR2 includes an area where the dump truck 2 has nottraveled for the map data creation processing in the past. The secondarea AR2 also includes an area where a ratio of the colored grids DR1does not reach the predetermined ratio although the dump truck 2 hastraveled in the past for the map data creation processing.

Here, a region in the vicinity of the travel route RPb can bearbitrarily determined. For example, a region in the vicinity of thetravel route RPb may be sectioned into certain number of sections, and aratio of the colored grids DR1 may be determined per section.Additionally, a lateral width of a region in the vicinity of the travelroute RPb with respect to the advancing direction can be suitably set.

Additionally, an administrator may manually set a region in an outerperiphery of the workplace PA as a first area AR1 or a second area AR2by using the input device 17 (designation unit) of the management device10. For example, referring to the map data MI displayed on the displaydevice 16, it is possible to designate a first area AR1 or a second areaAR2 by using the input device 17 like a mouse. Then, area informationdesignated by the input device 17 (designation unit) is output to theidentifying unit 14 of the management device 10 in the same manner toidentify the first area AR1 or the second area AR2.

Furthermore, a target to be designated by the input device 17(designation unit) is not limited to a region in the vicinity of thetravel route, and for example, designation may be made on a travel routeitself. In this case, a first travel route having high perfection of mapdata and a second travel route having low perfection of map data aredesignated by the input device 17.

Additionally, information related to a first area AR1 or a first travelroute, or information related to a second area AR2 or a second travelroute designated by the input device 17 (designation unit) is output tothe travel route generation unit 19, and the travel route generationunit 19 may generate a travel route on the basis of the information fromthe input device 17.

Additionally, which one of the first travel route RPa and the secondtravel route RPb where the dump truck 2 is arranged to travel may bedesignated by the input device (designation unit). In this case, theinformation from the input device 17 is output to the travel routegeneration unit 19, and the travel route generation unit 19 generates atravel route on the basis of the information from the input device 17.

Meanwhile, a target to be identified by the identifying unit 14 is notlimited to the example of identifying perfection of map data in a regionin the vicinity of a travel route RPb, and a level of perfection of mapdata may be identified per travel route or per workplace.

When GPS accuracy is lowered and the travel mode is shifted from the GPStravel mode to the scan matching navigation travel mode due tooccurrence of ionosphere scintillation or the like, in a case where asecond area AR2 exists in an outer periphery of a workplace, a dumptruck 2 may be stopped and productivity may be deteriorated in the worstcase when the dump truck 2 attempts to pass the second area AR2 by thescan matching navigation travel.

Therefore, in a situation where ionosphere scintillation or the likedoes not occur and the GPS accuracy is high enough to perform the mapdata creation processing by the GPS travel, it is desirable that:traveling is preferentially performed on the travel route RPb; a ratioof the colored grids DR1 is increased by detecting an object like a bankBK existing in a second area AR2; and the area is switched to the firstarea AR1.

Therefore, the travel route generation unit 19 of the processing device12 is made to output data indicating a first area AR1 and dataindicating a second area AR2 identified by the identifying unit 14, andin a case where there is a second area AR2, the travel route generationunit 19 preferentially sets, as a travel route where a dump truck 2actually travels, the travel route RPb having the second area AR2 in thevicinity thereof.

The travel controller 20 causes the dump truck 2 to travel along the settravel route RPb in the GPS travel mode.

The map data creation unit 33C creates map data of the second area AR2on the basis of detection data obtained by the GPS detector 31 anddetection data obtained by a laser sensor 24C provided in the dump truck2 that travels in the second areas AR2. The created map data of thesecond area AR2 is stored in the map storage database 36.

A condition in which an entire region of the second area AR2 at aworkplace is switched to the first area AR1 or a dump truck 2 travels onthe second travel route RPb the predetermined number of times can be setas a condition to switch, from the second travel route RPb to the firsttravel route RPa, a travel route where the dump truck 2 travels in theGPS travel mode while having high perfection of map data in a workplace.

Meanwhile, a dump truck 2 may have to travel on, for example, a travelroute RPc different from the travel route RPb up to the loading positionas illustrated in FIG. 22 in order that the dump truck 2 may reach aloading position in a loading place by the scan matching navigationtravel and return to a hauling path HL from the loading position by thescan matching navigation travel after loading ores or the like in astate that ionosphere scintillation or the like is occurring. In thiscase, regions in the vicinities of the two travel routes including thetravel route RPb from an entrance to a target position (loadingposition) of the workplace and the travel route RPc from the targetposition to an exit of the workplace are needed to be switched to thefirst area AR1.

Therefore, a condition to be satisfied to switch the travel route fromthe second travel route RPb to the first travel route RPa may be acondition in which all of the regions in the vicinities of not only thetravel route RPb from the entrance to the target position of theworkplace but also the travel route RPc from the target position to theexit of the workplace are switched to the first area AR1.

In the following, a method of setting a travel route in a workplace PAaccording to the first embodiment will be described. FIG. 23 is aflowchart illustrating an exemplary travel route setting methodaccording to the first embodiment. FIGS. 21 and 24 are schematicdiagrams illustrating exemplary travel routes set in the workplace PA.In FIGS. 21 and 24, the workplace PA is a loading place LPA.

The identifying unit 14 determines whether creation of map data for theworkplace PA has been completed, that is, whether perfection of the mapdata is high (step ST70).

For example, the identifying unit 14 can make a determination on thebasis of, for example, perfection of map data in a region in thevicinity of a travel route, that is, a region provided with a bank BK inan outer periphery of a workplace PA. The method of determiningperfection of the map data is as described above. For example,determination may be made on the basis of the number of times the dumptruck 2 has traveled on the second travel route RPb.

As another determining method, determination may be made on the basis ofestimation accuracy or appropriateness (likelihood) of a result obtainedfrom position calculation in a case of performing the positioncalculation by the scan matching navigation as described above.

In a case of determining in step ST70 that creation of the map data hasnot been completed yet (step ST73: No), the map data creation processingis continued.

In a case of determining in step ST70 that creation of the map data hasbeen completed (step ST70: Yes), the processing device 12 sets the firsttravel route RPa in the workplace PA such that a bank BK is located in adetection area of a laser sensor 24B on the basis of positional data ofthe bank BK inside the mine map information, and the first travel routeRPa is to be a shortest route from an entrance position PJ1 to thetarget position PJ2 of the workplace PA (step ST71).

The travel controller 20 controls travel of a dump truck 2 so as totravel along the first travel route RPa. The dump truck 2 travels alongthe first travel route RPa while detecting the position of the dumptruck 2 with the GPS detector 31 (step ST72).

In the case of determining in step ST70 that creation of the map datahas not been completed yet (step ST70: No), the processing device 12sets a second travel route RPb in the workplace PA on the basis of thepositional information of the bank BK inside the mine map informationsuch that the bank BK is located in the detection area of the lasersensor 24B (step ST73).

The travel controller 20 controls travel of the dump truck 2 so as totravel along the second travel route RPb. The dump truck 2 travels alongthe second travel route RPb while detecting the position of the dumptruck 2 with the GPS detector 31 and also detecting the bank BK with thelaser sensor 24B (step ST74).

As illustrated in FIG. 21, the second travel route RPb is set such thatthe dump truck 2 travels from the first position PJ1 (entrance) to thesecond position PJ2 (loading position) of the workplace PA in a statethat the bank BK is located in the detection area of the laser sensor24B that detects a front region of the dump truck 2. The map datacreating processing is executed in parallel to normal hauling work bythe dump truck 2. Meanwhile, the normal hauling work by the dump truck 2includes at least one of loading work and discharging work.

The map data creation unit 33C creates map data that is a detectionresult of the bank BK on the basis of detection data obtained by the GPSdetector 31 and detection data obtained by the laser sensor 24B providedin the dump truck 2 traveling along the second travel route RPb (stepST75).

FIG. 24 is the schematic diagram illustrating an exemplary workplace PAwhere a first travel route RPa is set. The first travel route RPa is setsuch that a dump truck 2 travels from a first position PJ1 to the secondposition PJ2 of the workplace PA. As illustrated in FIGS. 21 and 24, ina case of making the dump truck 2 travel from the first position PJ1 tothe second position PJ2, a travel distance of the dump truck 2 at thetime of traveling along the first travel route RPa is shorter than atravel distance of the dump truck 2 at the time of traveling along thesecond travel route RPb. In other words, after completion of creatingthe map data for the workplace PA, the processing device 12 suppressesdeterioration of productivity by setting the first travel route RPahaving the travel distance of the dump truck 2 from the first positionPJ1 to the second position PJ2 shorter than the second travel route RPb.

In a case where the dump truck 2 travels along the first travel routeRPa, the dump truck 2 is likely to travel at a position away from a bankBK. In other words, in the case where the dump truck 2 travels along thefirst travel route RPa, a bank BK may not be located in the detectionarea of the laser sensor 24B.

In the case of making the dump truck 2 travel along the first travelroute RPa, the travel controller 20 makes the dump truck 2 travel by theGPS travel. In other words, the travel controller 20 causes the dumptruck 2 to travel along the first travel route RPa while detecting theposition of the dump truck 2 with the GPS receiver 31.

In a state that creation of the map data for the workplace PA has beencompleted, the travel controller 20 can make the dump truck 2 performscan matching navigation travel even in a case where the GPS travelcannot be continued due to occurrence of ionosphere scintillation or thelike. In this case, a bank BK is located in the detection area of thelaser sensor 24B by making the dump truck 2 travel along the secondtravel route RPb.

Detection data obtained by the laser sensor 24B is output to the scanmatching navigation position calculation unit 33B. In the scan matchingnavigation travel, the scan matching navigation position calculationunit 33B calculates a position of the dump truck 2 by matching map datastored in the map storage database 36 with the detection data obtainedby the laser sensor 24B. The travel controller 20 causes the dump truck2 to travel so as to travel along the second travel route RPb in theworkplace PA on the basis of the position of the dump truck 2 calculatedby the scan matching navigation position calculation unit 33B and thesecond travel route RPb.

Meanwhile, the description has been provided assuming that a target tobe detected by the laser sensor 24B is a bank BK in the above-describedflowchart, but not limited thereto, a side wall provided in an outerperiphery of a workplace PA may also be set as a detection target, forexample. Additionally, while the description has been provided by usingthe embodiment in the loading place LPA, but not limited thereto, thepresent invention may be applied to, for example, a discharging placeDPA, a machine parking place, or a wide region other than these.

<Functions and Effects>

As described above, according to the first embodiment, in the case wheremap data of a workplace PA in a mine is not created, the second travelroute RPb to define a travel route RP in the workplace PA is set suchthat a bank BK of the workplace PA is located in the detection area ofthe laser sensor 24B of the dump truck 2. Consequently, the map datacreation processing can be executed by making the dump truck 2 travelalong the second travel route RPb. Since the map data of the workplacePA is created, the dump truck 2 can travel in the workplace PA by thescan matching navigation travel even in occurrence of ionospherescintillation. Consequently, deterioration of productivity by the dumptruck 2 in the mine can be suppressed.

Additionally, according to the first embodiment, the travel route isswitched from the second travel route RPb to the first travel route RPaafter creation of the map data is completed. Since the travel route isswitched to the first travel route RPa, a travel distance of the dumptruck 2 can be shortened, and therefore, work efficiency can beimproved.

<Other Embodiments>

Meanwhile, in a case where a plurality of dump trucks 2 travels in amine, a storage device 13 of a management device 10 may createintegrated map data by integrating first map data created on the basisof detection data obtained by a laser sensor 24B and detection dataobtained by a GPS detector 31 provided in a first dump truck 2 withsecond map data created on the basis of detection data obtained by alaser sensor 24B and detection data of a GPS detector 31 provided in asecond dump truck 2. The first map data created by the first dump truck2 and the second map data created by the second dump truck 2 aretransmitted via a communication system 9 to the management device 10functioning as an integration unit. Consequently, the storage device 13can create the integrated map data by integrating the first map datawith the second map data.

For example, as for a predetermined area in an outer periphery of aworkplace PA, the predetermined area may be a first area AR1 in thefirst map data, and the predetermined area may be a second area AR2 inthe second map data. Since the first map data and the second map dataare integrated and the integrated map data is distributed to each of thefirst dump truck 2 and the second dump truck 2, each of the first dumptruck 2 and the second dump truck 2 can travel while holding the mapdata in which the predetermined area is the first area AR1. In thiscase, as for the second dump truck 2, the number of options of a routewhere the scan matching navigation travel can be performed is increasedby switching use of the second map data to use of the integrated mapdata.

Note that the integration unit to integrate the first map data with thesecond map data may be provided in a computer of at least one certaindump truck 2 out of the plurality of dump trucks 2. In this case, mapdata from other dump trucks 2 is transmitted to the certain dump truck2. After integrating pieces of the map data transmitted from otherplurality of dump trucks 2 to create integrated map data, and thecertain dump truck 2 distributes the same to other dump trucks 2.

Meanwhile, in the above-described embodiment, a travel route generationunit 19, the identifying unit 14, and a designation unit 17 are providedin the management device 10 of a control facility 7 constructed at aposition different from a dump truck 2. The travel route generation unit19, identifying unit 14, and designation unit 17 may also be provided ina computer of a dump truck 2. For example, a travel route determinationdevice 32 may also function as the travel route generation unit 19,identifying unit 14, and designation unit 17.

In the above embodiment, a travel route of a dump truck 2 in a loadingplace LPA has been described, but not limited to the loading place, anda travel route may be determined by a similar method, for example, in adischarging place DPA.

Meanwhile, in the respective embodiments described above, detection dataobtained by a laser sensor 24B out of non-contact sensors 24 is usedduring scan matching navigation travel and during GPS travel (map datacreation processing). Detection data obtained by a radar 24A out of thenon-contact sensors 24 may also be used at least one of during the scanmatching navigation travel and during the GPS travel. Note that eachnon-contact sensor 24 may be any distance measuring sensor capable ofmeasuring a relative position with respect to an object in the vicinityof a dump truck 2. For example, a camera that acquires an optical imageof an object in the vicinity of the dump truck 2 may also be used as anon-contact sensor 24.

In the above embodiment, the identifying unit 14 identifies a region ina periphery of a workplace as either one of a first area AR1 having highperfection of map data and a second area AR2 having low perfection ofmap data, and in a case where the second area AR2 exists in the regionin the outer periphery of the workplace, the travel route generationunit 19 generates a travel route such that a dump truck is made topreferentially pass a second travel route RPb located on the outerperiphery side of the workplace, but not limited thereto, for example,which one of a first travel route RPa and the second travel route RPbwhere the dump truck 2 should travel may be designated by an inputdevice 17 (designation unit).

Additionally, in the above-described embodiments, a method described inthe flowchart of FIG. 15 is used as the method of calculating a positionand an azimuth direction of a dump truck 2 by the scan matchingnavigation position calculation unit 33B, but not limited thereto, anymethod may be applicable as far as that is a method in which currentposition and azimuth direction of a dump truck 2 are calculated bycomparing a detection result obtained by a laser sensor 24B with storedmap data.

Additionally, in the above embodiment, whether a solution of a GPSposition detected by the GPS receiver 31 is a fix solution is determinedat the time of determining whether accuracy of a GPS position is highlyaccurate, but not limited thereto, for example, it may be possible todetermine that the GPS position is highly accurate when a predeterminedcondition is satisfied even though a solution is a float solution.

Furthermore, in the above-described embodiments, a position and anazimuth direction are estimated by the dead reckoning navigation in bothof the GPS travel mode and the scan matching navigation travel mode, butthe dead reckoning navigation is not necessarily performed as far as acycle of detecting a detection signal from the GPS receiver or adetection signal from the scan matching navigation position calculationunit is substantially similar to that of the dead reckoning navigation.

Additionally, in the above-described embodiments, a map data creationunit 33C is provided inside a dump truck 2, but not limited thereto, forexample, the map data creation unit 33C may be provided in a computer 11inside the management device 10 or on a server provided in a differentplace, and a detection result obtained by a laser sensor 24B andnecessary information such as current position and azimuth direction ofthe dump truck 2 may be transmitted to the map data creation unit 33C.

Furthermore, a map storage database (map data) is provided inside a dumptruck 2, but not limited thereto, for example, the map data may be savedin the computer 11 inside the management device 10, on a server providedin a different place, in a different mining machine 4, or the like, andthe map data may be received from the outside of the dump truck 2 beforecalculating a position and an azimuth direction of the dump truck 2 bythe scan matching navigation.

In the above embodiments, the description has been provided byexemplifying a mining machine used in a mine, but not limited thereto,and application to a work machine used in an underground mine and a workmachine used in a work site on the ground may also be possible. The workmachine includes a mining machine. Furthermore, as a “control system fora work machine”, the description has been provided by exemplifying acontrol system for a dump truck in a mine on the ground in theabove-described embodiments, but not limited thereto, also included is acontrol system for a work machine provided with a “position detectingdevice”, a “non-contact sensor”, and a “position calculation unit”,namely, a different mining machine in a mine on the ground, a workmachine in an underground mine, or a work machine used in a work site onthe ground (such as an excavator, a bulldozer, and a wheel loader).

Additionally, in the above embodiment, a position of a mining machine isdetected by using a GPS detector, but not limited thereto, a position ofa mining machine can also be detected on the basis of a known “positiondetecting device”. Particularly, since a GNSS cannot be detected in anunderground mine, it may be possible to use self position estimation fora work machine or the like using known position detecting devices suchas an indoor messaging system (IMES), a pseudo satellite (pseudolite), aradio frequency identifier (RFID), a beacon, a surveying instrument, aradio LAN, an ultra wide band (UWB), a simultaneous localization andmapping (SLAM), and a landmark (mark provided in the vicinity of atravel route). These position detecting devices may be used in a miningmachine on the ground in a mine or a work machine used in a work site onthe ground.

Meanwhile, an “object in the vicinity of a travel route” may include notonly a bank, a side wall, and the like but also a structure artificiallystructured provided in the vicinity of a hauling path or a travel routein a workplace of a mine. Furthermore, included are obstacles such as awall surface existing at a travel route in an underground mine, anembankment, a building, a tree, and the like existing in a periphery ofa travel route of a work machine at a work site on the ground.

Additionally, in the above-described embodiment, a loading place and adischarging place are exemplified as exemplary workplaces, but notlimited thereto, also included are a parking area, an area to performmaintenance, an area to perform refueling, and the like, for example.

The constituent elements in each of the embodiments described aboveinclude those readily conceivable by a man skilled in the art, thosesubstantially identical, and those included in a so-called equivalentscope. Furthermore, the above-described constituent elements in each ofthe above-described embodiment can be suitably combined. Additionally,some of the constituent elements may not be used.

REFERENCE SIGNS LIST

-   1 Management system-   2 Dump truck (mining machine)-   2E Internal combustion engine-   2G Generator-   2S Steering device-   3 Different mining machine-   4 Mining machine-   5 Positioning satellite-   6 Repeater-   7 Control facility-   9 Communication system-   10 Management device-   11 Computer-   12 Processing device (course data creation unit)-   13 Storage device-   13B Database-   15 Input/output unit-   16 Display device-   17 Input device-   18 Radio communication device-   18A Antenna-   19 GPS base station-   19A Antenna-   19B Transmitter/receiver-   19C Antenna-   20 Travel controller (travel control unit)-   21 Vehicle body-   22 Vessel-   23 Wheel-   23B Braking device-   23F Front wheel-   23M Electric motor-   23R Rear wheel-   24 Non-contact sensor-   24A Radar-   24B Laser sensor-   26 Gyro sensor-   27 Speed sensor-   29 Interface-   30 Navigation system-   31 GPS receiver (position detecting device)-   31A Antenna-   31B Antenna-   32 Travel route creation device-   32A Route position storage unit-   33 Position measurement controller-   33A Determination unit-   33B Scan matching navigation position calculation unit (position    calculation unit)-   33C Map data creation unit-   33D Storage unit (second storage unit)-   33E Map determination unit-   34 Radio communication device-   34A Antenna-   35 First signal line-   36 Map storage database-   37A Second communication line-   37B Third communication line-   38 Observation point coordinate conversion unit-   39 Observation point availability determination unit-   40 Safety controller-   41 Gateway controller-   321 Input/output unit-   322 Arithmetic processing device-   323 Main storage device (second storage unit)-   324 External storage device-   325 External storage device (first storage unit)-   331 Input/output unit-   332 Arithmetic processing device-   333 Main storage device (second storage unit)-   334 External storage device-   335 External storage device (first storage unit)-   BK Bank-   CR Crusher-   DPA Discharging place-   GR Grid-   HL Hauling path-   IAH Radiation area-   IAV Irradiation area-   IS Intersection-   KF Kalman filter-   LPA Loading place-   MI Map data-   MIf Pinpoint map data-   MIm Management map data-   MIp Divided map data piece-   RP Travel route

The invention claimed is:
 1. A work machine management systemcomprising: a position detecting device configured to detect a positionof a work machine traveling in a workplace, based on positioning signalsreceived from GPS satellites; a non-contact sensor configured to detect,in a non-contact manner, an object existing in the workplace; at leastone processor; at least one memory including computer program code,wherein the computer program code, when executed by operation of the atleast one processor, causes the work machine management system to:determine with a determination unit whether the position detectingdevice is capable of accurately determining a position; accumulateinformation for new map data on existence and a position of the objectexisting in the workplace on the basis of detection data obtained by theposition detecting device and detection data obtained by the non-contactsensor, when the position detecting device is determined to be accurate;wherein new map data in each grid in an area of the map data is a gridcolor based on a number of times that the object has been detected inthe grid by the work machine as it has traveled on a travel route in theworkplace; identify with an identifying unit perfection of map data inaccordance with a ratio between a colored grid and a non-colored grid inan area of the map data; and generate with a travel route generationunit a travel route where the work machine travels on the basis of theperfection of the new map data identified by the identifying unit,wherein the map data allows a position of the work machine to becalculated by matching the map data with the detection data obtained bythe non-contact sensor, and in a case where the perfection of the mapdata is low, a travel route is generated that is located in an outerperiphery in vicinity of the workplace included in a detection area bythe non-contact sensor.
 2. The work machine management system accordingto claim 1, wherein the travel route generation unit includes a firsttravel route that passes is located in at least a center region from afirst position to a second position in the workplace, and a secondtravel route that is located in an outer periphery region that extendsfrom the first position to the second position in the workplace, and ina case where the identifying unit determines that perfection of map datain the second travel route is low, the travel route generation unitgenerates a travel route so as to make the work machine preferentiallypass the second travel route.
 3. The work machine management systemaccording to claim 2, wherein the second travel route having lowperfection of-the map data includes at least one of: a travel route inwhich the non-contact sensor cannot detect the object; a travel route inwhich the map data cannot be created; a travel route in which a ratio ofa region where the object is detected in a vicinity of the second travelroute is a predetermined value or less; and a travel route in which thework machine has traveled on the second travel route predeterminednumber of times or less.
 4. The work machine management system accordingto claim 2, wherein when the identifying unit determines that perfectionof the map data in the workplace is high, the travel route generationunit sets, to the first travel route, a travel route along which thework machine travels in the workplace.
 5. The work machine managementsystem according to claim 1, comprising the at least one memoryincluding computer program code, wherein the computer program code, whenexecuted by operation of the at least one processor, causes the workmachine management system to: calculate with a scan matching navigationposition calculation unit a position of the work machine by matching adetection result obtained by the non-contact sensor with the map data,wherein the scan matching navigation position calculation unitcalculates estimation perfection or likelihood of a calculation result,the map data identifying unit identifies perfection of map data on thebasis of a calculation result of the estimation perfection or thelikelihood, and the travel route generation unit generates the travelroute where the work machine travels on the basis of the perfection ofthe map data identified by the identifying unit.
 6. The work machinemanagement system according to claim 1, comprising the at least onememory including computer program code, wherein the computer programcode, when executed by operation of the at least one processor, causesthe work machine management system to: designate with a designation unitperfection of the map data per area or per travel route, wherein theidentifying unit identifies perfection of the map data on the basis ofinformation on perfection of map data obtained from the designationunit.
 7. The work machine management system according to claim 1,comprising a first work machine and a second work machine, the at leastone memory including computer program code, wherein the computer programcode, when executed by operation of the at least one processor, causesthe work machine management system to: create with an integration unitintegrated map data by integrating first map data with second map data,in which the first map data is created on the basis of detection dataobtained by the position detecting device and detection data obtained bythe non-contact sensor provided in the first work machine, and thesecond map data is created on the basis of detection data obtained bythe position detecting device and detection data obtained by thenon-contact sensor provided in the second work machine.
 8. A workmachine comprising the work machine management system according toclaim
 1. 9. A work machine management system comprising: a positiondetecting device configured to detect a position of a work machinetraveling in a workplace, based on positioning signals received from GPSsatellites; a non-contact sensor configured to detect, in a non-contactmanner, an object existing in the workplace; at least one processor; atleast one memory including computer program code, wherein the computerprogram code, when executed by operation of the at least one processor,causes the work machine management system to: determine with adetermination unit whether the position detecting device is capable ofaccurately determining a position; accumulate information for new mapdata on existence and a position of the object existing in the workplaceon the basis of detection data obtained by the position detecting deviceand detection data obtained by the non-contact sensor, when the positiondetecting device is determined to be accurate; wherein new map data ineach grid in an area of the map data is a grid color based on a numberof times that the object has been detected in the grid by the workmachine as it has traveled on a travel route in the workplace; anddesignate with a designation unit perfection of map data in accordancewith a ratio between a colored grid and a non-colored grid in an area ofthe map data in a travel route, generate with a travel route generationunit a travel route so as to make the work machine preferentially passthe travel route on the basis of the perfection of information from thedesignation unit, wherein the map data allows a position of the workmachine to be calculated by matching the map data with the detectiondata obtained by the non-contact sensor, and in a case where theperfection of the map data is low, a travel route is generated thatpasses is located in an outer periphery in vicinity of the workplaceincluded in a detection area by the non-contact sensor.
 10. A workmachine management system, comprising: a position detecting deviceconfigured to detect a position of a work machine traveling in aworkplace, based on positioning signals received from GPS satellites; anon-contact sensor configured to detect, in a non-contact manner, anobject existing in the workplace; at least one processor; at least onememory including computer program code, wherein the computer programcode, when executed by operation of the at least one processor, causesthe work machine management system to: determine with a determinationunit whether the position detecting device is capable of accuratelydetermining a position; accumulate information for new map data onexistence and a position of the object existing in the workplace on thebasis of detection data obtained by the position detecting device anddetection data obtained by the non-contact sensor, when the positiondetecting device is determined to be accurate; wherein new map data ineach grid in an area of the map data is a grid color based on a numberof times that the object has been detected in the grid by the workmachine as it has traveled on a travel route in the workplace; identifywith an identifying unit-perfection of map data in accordance with aratio between a colored grid and a non-colored grid in an area of themap data; calculate with a scan matching navigation position calculationunit a position of the work machine by matching a detection resultobtained by the non-contact sensor with the map data; control with atravel controller travel of the work machine on the basis of a detectionresult obtained by the position detecting device in a case where theposition detecting device is effective, and configured to control travelof the work machine on the basis of a calculation result obtained by thescan matching navigation position calculation unit in a case where theposition detecting device is not effective, generate with a travel routegeneration unit a travel route that causes the work machine to pass thetravel route both in the case where the position detecting device iseffective and in the case where the position detecting device is noteffective, wherein the map data allows a position of the work machine tobe calculated by matching the map data with the detection data obtainedby the non-contact sensor, and in a case where the perfection of the mapdata is low, a travel route is generated that is located in an outerperiphery in vicinity of the workplace included in a detection area bythe non-contact sensor.